ROBOT POSITION CORRECTING SYSTEM

摘要

PURPOSE:To attain the robot positioning with high accuracy by attaching a position sensor connected to a servo computer to an end of a final output shaft and using the position data on the sensor as an absolute position to correct the output signal of a control position detector. CONSTITUTION:In a teaching operation mode, an up-down counter 12 counts the signals sent from a pulse generator 1a of an original point position controller. A pulse signal is produced from a pulse generator 13 and at the same time the data on the counter 12 is stored to a memory area within an arithmetic processing circuit 15. In a robot action mode the load is applied to a robot hand 8a. The circuit 15 compares the data of the memory area with the data of the counter 12 when a rise edge pulse is produced owing to the hysteresis, etc. as well as the phase difference between a pulse oscillator 1a and a control position detector 10. Thus a deviation amount is calculated and a position correcting amount is indicated to a robot control CPU.